/// <summary>
/// Initializes the simulation and its datamembers.
/// </summary>
/// <param name="roomSize"></param>
/// <param name="startPosition"></param>
/// <param name="commands"></param>
/// <param name="entityBody"></param>
/// <returns></returns>
public override int Initialize(string roomSize, string startPosition, string commands, Body entityBody)
{
if (_isLogging) Console.WriteLine("Initializing simulation.");
try
{
string[] roomData = Helper.Parse(roomSize);
string[] carData = Helper.Parse(startPosition);
string[] carCommands = Helper.Parse(commands, true);
int roomWidth = Int32.Parse(roomData[0]);
int roomHeight = Int32.Parse(roomData[1]);
int carStartX = Int32.Parse(carData[0]);
int carStartY = Int32.Parse(carData[1]);
_car = new Car(carStartX, carStartY, (CarBody)entityBody, carData[2][0], _isLogging);
CommandsQueue = new CommandsQueue(carCommands.Length);
_room = new Room(roomWidth, roomHeight, _car, _isLogging);
foreach (string command in carCommands)
{
CommandsQueue.Enqueue(new CarCommand(command[0]));
}
}
catch (IsNotEnumException e) {
Console.WriteLine("Simulation error in Initialize.\n" + e.Message);
return -1;
}
catch (Exception) {
Console.WriteLine("Simulation error in Initialize.");
return -1;
}
return 0;
}
/// <summary>
/// Request set SRB1 for board
/// </summary>
public bool RequestSetSrb1(int board, bool enable)
{
if (BoardSettings == null || (!BoardSettings.IsValid && BoardSettings.Boards.Count() < board))
{
return(false);
}
// this is the board configuration index, not the board ID
switch (board)
{
case 0:
StartSrb1CytonSet = enable;
break;
case 1:
StartSrb1DaisySet = enable;
break;
}
var channel = BoardSettings.Boards[board].Channels[0];
var setSrb1String = FormatSetSrb1String(channel, enable);
CommandsQueue.Enqueue(setSrb1String);
return(true);
}
public async Task Subscribe(string jwt)
{
await Task.WhenAny(Task.Delay(TIME_OUT), Task.Run(async() =>
{
AppLog.Info("Connecting to server...");
var options = new IO.Options();
options.Query = new Dictionary <string, string>();
options.Query["token"] = jwt;
options.Reconnection = true;
_socket = IO.Socket(_config.ServerUrl, options);
_socket.On(Socket.EVENT_CONNECT, () =>
{
AppLog.Info("Connected to server");
});
_socket.On(Socket.EVENT_RECONNECTING, () =>
{
AppLog.Info("Reconnecting to server...");
});
_socket.On(EVENT_OPEN, (payload) =>
{
int idNo = Convert.ToInt32(payload);
AppLog.Info("Received command open lock: {0}", idNo);
lock (CommandsQueue)
{
CommandsQueue.Enqueue(idNo);
}
});
// wait for connect to server
while (_socket.Io().ReadyState != Manager.ReadyStateEnum.OPEN)
{
await Task.Yield();
}
}));
if (_socket.Io().ReadyState != Manager.ReadyStateEnum.OPEN)
{
throw new Exception("Open socket timeout.");
}
}
public async Task <R> Send <R>(CommandMessage cmd) where R : CommandResponse, new() => await CommandsQueue.Enqueue(() => SendCommand <R>(cmd));